DE102007001745A1 - Joystick, has sensor unit with magnetic field sensor that is movable with lever, where magnetic field sensor measures magnetic field strength in three orthogonal spatial directions based on lever positions - Google Patents
Joystick, has sensor unit with magnetic field sensor that is movable with lever, where magnetic field sensor measures magnetic field strength in three orthogonal spatial directions based on lever positions Download PDFInfo
- Publication number
- DE102007001745A1 DE102007001745A1 DE102007001745A DE102007001745A DE102007001745A1 DE 102007001745 A1 DE102007001745 A1 DE 102007001745A1 DE 102007001745 A DE102007001745 A DE 102007001745A DE 102007001745 A DE102007001745 A DE 102007001745A DE 102007001745 A1 DE102007001745 A1 DE 102007001745A1
- Authority
- DE
- Germany
- Prior art keywords
- magnetic field
- lever
- sensor
- field sensor
- joystick
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
- 230000001419 dependent effect Effects 0.000 claims 1
- 230000006870 function Effects 0.000 description 12
- 230000005540 biological transmission Effects 0.000 description 3
- BUHVIAUBTBOHAG-FOYDDCNASA-N (2r,3r,4s,5r)-2-[6-[[2-(3,5-dimethoxyphenyl)-2-(2-methylphenyl)ethyl]amino]purin-9-yl]-5-(hydroxymethyl)oxolane-3,4-diol Chemical compound COC1=CC(OC)=CC(C(CNC=2C=3N=CN(C=3N=CN=2)[C@H]2[C@@H]([C@H](O)[C@@H](CO)O2)O)C=2C(=CC=CC=2)C)=C1 BUHVIAUBTBOHAG-FOYDDCNASA-N 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000002996 emotional effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0338—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
- G05G2009/04755—Magnetic sensor, e.g. hall generator, pick-up coil
Abstract
Description
Die
Erfindung betrifft einen Joystick nach dem Oberbegriff des Patentanspruches
1. Ein derartiger Joystick ist aus
Aus
Aufgabe der Erfindung ist es, einen Joystick mit Haptik der eingangs genannten Art zu schaffen, bei dem die räumlichen Positionen des Joystick-Hebels in einfacher Weise erfasst werden.task The invention is a joystick with haptic of the aforementioned To create a way in which the spatial positions of the Joystick levers are easily detected.
Diese Aufgabe wird durch die Merkmale des Patentanspruches 1 gelöst.These The object is solved by the features of claim 1.
Bei der Erfindung beinhaltet die Sensoreinrichtung zur Erfassung der räumlichen Positionen des Joystick-Hebels einen Magnetfeldsensor und eine Magnetfeld erzeugende Einrichtung, beispielsweise einen Permanentmagneten oder einen Elektromagneten, wobei der Magnetfeldsensor und die Magnetfeld erzeugende Einrichtung in Abhängigkeit von der Hebelbewegung oder -stellung relativ zueinander beweglich angeordnet sind und der Magnetfeldsensor in Abhängigkeit von den jeweiligen Hebelstellungen Magnetfeldstärken in drei zu einander orthogonalen Raumrichtungen misst.at The invention includes the sensor device for detecting the spatial positions of the joystick lever a magnetic field sensor and a magnetic field generating device, such as a Permanent magnet or an electromagnet, wherein the magnetic field sensor and the magnetic field generating device depending on the lever movement or position arranged to be movable relative to each other are and the magnetic field sensor depending on the respective Lever positions magnetic field strengths in three orthogonal to each other Measures spatial directions.
In bevorzugter Weise ist die das Magnetfeld erzeugende Einrichtung am unteren Ende des Hebels mit dem Hebelende mitbeweglich angeordnet. Entlang der Längsachse des Hebels kann ein Betätigungsstab verschiebbar und/oder um die Längsachse drehbar am Hebel gelagert sein. In diesem Fall kann die Magnetfeld erzeugende Einrichtung am unteren Ende des Betätigungsstabes mitbeweglich befestigt sein.In Preferably, the magnetic field generating device arranged at the lower end of the lever with the lever end mitbeweglich. Along the longitudinal axis of the lever may be an actuating rod slidably and / or rotatable about the longitudinal axis of the lever be stored. In this case, the magnetic field generating device attached mitbeweglich at the bottom of the operating rod be.
Der Magnetfeldsensor befindet sich vorzugsweise in einer Verlängerung der Längsachse des Hebels, wenn dieser eine Ausgangsposition oder Ruheposition (Müll-Position) einnimmt und auch dann, wenn der Hebel im Kardangelenklager bewegt wird. Vorzugsweise befindet sich der Magnetsensor in einer Position, in welchem sich die Schwenkachsen der Kardanlagerung des Hebels, welche in unterschiedlichen Ebenen liegen können sich überkreuzen.Of the Magnetic field sensor is preferably in an extension the longitudinal axis of the lever when this is a starting position or rest position (garbage position) and even if the lever is moved in the universal joint. Preferably located the magnetic sensor in a position in which the pivot axes of the Gimbal of the lever, which lie in different levels can cross each other.
Anstelle der oben beschriebenen Ausführungsform können bei einer anderen Ausführungsform der Magnetfeldsensor beweglich mit dem Hebel und die Magnetfeld erzeugende Einrichtung ortsfest angeordnet sein. Für die Magnetfeld erzeugende Einrichtung können unterschiedliche Formen von Permanentmagneten, beispielsweise scheibenförmige oder stabförmige Permanentmagnete mit kreisrundem oder rechteckigem, insbesondere quadratischen Querschnitt verwendet werden. Die Polachse des mit dem Hebel mitbeweglichen Permanentmagneten kann mit der Längsachse des Hebels fluchten oder quer zu dieser angeordnet sein. Der Magnetfeldsensor ist vorzugsweise als dreidimensional messender Magnetfeldsensor ausgebildet und weist hierzu, beispielsweise drei in den drei zueinander orthogonalen Raumrichtungen messende Hall-Elemente oder entsprechende magnetfeldsensitive Elemente auf.Instead of of the embodiment described above in another embodiment, the magnetic field sensor movable with the lever and the magnetic field generating device be arranged stationary. For the magnetic field generating device can use different forms of permanent magnets, for example disc-shaped or rod-shaped permanent magnets with a circular or rectangular, in particular square cross-section be used. The pole axis of the mitbewegbeweg with the lever Permanent magnets can be aligned with the longitudinal axis of the lever or be arranged transversely to this. The magnetic field sensor is preferably designed as a three-dimensional magnetic field sensor and has for example, three in the three mutually orthogonal Room direction measuring Hall elements or corresponding magnetic field sensitive Elements on.
Durch zusätzliche haptische Aktuatoren, welche in den Drehgelenken der kardanischen Hebellagerung wirken oder in diesen Gelenken angeordnet sind, können der Bedienperson haptische Rückmeldungen bei der Hebelbetätigung gegeben werden. Die haptischen Aktuatoren können so ausgebildet sein, dass sie passive Funktionen, wie beispielsweise Anschläge, Raster, insbesondere Feinraster, mit unterschiedlichen Stufen zwischen den Rastern und dergleichen sowie aktive Funktionen, wie Rückstellung der Hebelbewegung, Warnmeldungen, Vibrationen und Ähnliches realisieren können. Diese Funktionen sind programmierbar, wobei entsprechende Programme in einem Speicher der Steuereinrichtung, welche insbesondere als elektronische Steuereinrichtung beispielsweise Rechner ausgebildet sein kann, in Bereitschaft gehalten werden. Ferner kann durch die Aktuatoren eine Getriebefunktion, welche ebenfalls programmierbar und einstellbar ist, erzeugt werden. Hierdurch können grobe Bewegungen des Hebels in feine Steuerbefehle und umgekehrt geringe Hebelbewegungen in vergrößerte Steuerbefehle umgesetzt werden. Auch kann die Getriebefunktion eine ins Schnelle oder ins Langsame umsetzende Getriebefunktion sein.By additional haptic actuators, which in the swivel joints the cardan lever bearing act or arranged in these joints are able to give the operator haptic feedback be given in the lever operation. The haptic Actuators can be designed to be passive Functions, such as stops, rasters, in particular Fine grid, with different levels between the grids and like as well as active functions, such as resetting the Lever movement, warnings, vibrations and the like can realize. These functions are programmable, with corresponding programs in a memory of the control device, which in particular as an electronic control device, for example Computer can be trained to be kept on standby. Furthermore, by the actuators, a transmission function, which also programmable and adjustable. This allows rough movements of the lever in fine control commands and vice versa small lever movements in enlarged control commands be implemented. Also, the transmission function can be a quick one or slow-acting transmission function.
Außerdem kann durch die haptischen Aktuatoren die Bedienkraft des Joystick-Hebels eingestellt oder programmiert werden. Die Bedienkraft kann in Abhängigkeit von den zu bewegenden Lasten, beispielsweise bei Hebeanlagen und dergleichen eingestellt werden. Hierdurch wird eine intuitive und sichere Bedienung aufgrund der haptischen Rückmeldung geschaffen. Mit Hilfe der berührungslos die jeweiligen Hebelstellungen erfassenden dreidimensional messenden Magnetfeldsensoreinrichtungen, welche die in den Drehlagern der kardanischen Hebellagerung wirkenden Haptikkräfte nicht beeinflusst, erreicht man eine genaue und sichere Erfassung der räumlichen Hebelposition. Zusätzlich wird bei einem entlang der Längsachse des Hebels verschiebbar und drehbar gelagerten Betätigungsstab auch die Positionierung dieses Betätigungsstabes berührungslos erfasst.In addition, the haptic actuators, the operating force of the joystick lever can be set or programmed. The operating force can be adjusted depending on the loads to be moved, for example in lifting systems and the like. This creates an intuitive and safe operation due to the haptic feedback. With the help of non-contact the respective lever positions capturing three-dimensional mes Send magnetic field sensor devices, which does not affect the forces acting in the pivot bearings of the cardan lever bearing haptics, one achieves an accurate and secure detection of the spatial lever position. In addition, in a slidably and rotatably mounted along the longitudinal axis of the lever actuating rod and the positioning of this operating rod is detected without contact.
Anhand der Figur wird an einem Ausführungsbeispiel die Erfindung noch näher erläutert.Based The figure is an embodiment of the invention explained in more detail.
Das
in der Figur dargestellte Ausführungsbeispiel eines Joysticks
beinhaltet einen Hebel
Die
kardanische Hebellagerung
Die
Bewegungen des Hebels
Die
vorzugsweise rechnergestützte Steuereinrichtung
Die
Steuereinrichtung
Der
Magnetfeldsensor
- 11
- Hebellever
- 22
- MagnetsensoreinrichtungMagnetic sensor means
- 33
- Drehgelenkswivel
- 44
- Drehgelenkswivel
- 55
- Aktuatorenactuators
- 66
- Steuereinrichtungcontrol device
- 77
- Magnetfeldsensormagnetic field sensor
- 88th
- Magnetfeld erzeugende Einrichtungmagnetic field generating device
- 99
- Betätigungsstabactuating rod
- 1010
- Programmspeicherprogram memory
- 1111
- zu steuernde Einrichtungto controlling device
- 1212
- kardanische Hebellagerunggimbal lever bearing
ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- - DE 2004017148 A1 [0001] - DE 2004017148 A1 [0001]
- - EP 1464918 A2 [0002] - EP 1464918 A2 [0002]
Claims (11)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102007001745A DE102007001745A1 (en) | 2007-01-11 | 2007-01-11 | Joystick, has sensor unit with magnetic field sensor that is movable with lever, where magnetic field sensor measures magnetic field strength in three orthogonal spatial directions based on lever positions |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102007001745A DE102007001745A1 (en) | 2007-01-11 | 2007-01-11 | Joystick, has sensor unit with magnetic field sensor that is movable with lever, where magnetic field sensor measures magnetic field strength in three orthogonal spatial directions based on lever positions |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102007001745A1 true DE102007001745A1 (en) | 2008-07-17 |
Family
ID=39509764
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102007001745A Ceased DE102007001745A1 (en) | 2007-01-11 | 2007-01-11 | Joystick, has sensor unit with magnetic field sensor that is movable with lever, where magnetic field sensor measures magnetic field strength in three orthogonal spatial directions based on lever positions |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE102007001745A1 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010026237A1 (en) | 2010-07-06 | 2012-01-12 | Leopold Kostal Gmbh & Co. Kg | Sensor device for acquisition of position or position alteration of pivotable lever, has magnetic sensor that is arranged in symmetric to magnets or magnetic poles of magnet assembly in all positions of pivotable lever |
US20120274563A1 (en) * | 2010-10-12 | 2012-11-01 | Seektech, Inc. | Magnetic thumbstick user interface devices |
EP2829846A1 (en) | 2013-07-23 | 2015-01-28 | Seuffer GmbH & Co. KG | Method and device for determining position with external field compensation |
CN110475468A (en) * | 2018-03-28 | 2019-11-19 | 南京德朔实业有限公司 | Straddle riding type grass trimmer and its operating device |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5160918A (en) * | 1990-07-10 | 1992-11-03 | Orvitek, Inc. | Joystick controller employing hall-effect sensors |
WO1999052614A1 (en) * | 1998-04-10 | 1999-10-21 | Immersion Corporation | Improvements in position sensing for force feedback devices |
EP1464918A2 (en) | 2003-04-01 | 2004-10-06 | Robert Seuffer GmbH & Co. | Method and apparatus for measuring the position of a magnet relative to a measuring place |
DE102004017148A1 (en) | 2003-04-10 | 2005-01-05 | Caterpillar Inc., Peoria | Operator input device with feedback |
-
2007
- 2007-01-11 DE DE102007001745A patent/DE102007001745A1/en not_active Ceased
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5160918A (en) * | 1990-07-10 | 1992-11-03 | Orvitek, Inc. | Joystick controller employing hall-effect sensors |
WO1999052614A1 (en) * | 1998-04-10 | 1999-10-21 | Immersion Corporation | Improvements in position sensing for force feedback devices |
EP1464918A2 (en) | 2003-04-01 | 2004-10-06 | Robert Seuffer GmbH & Co. | Method and apparatus for measuring the position of a magnet relative to a measuring place |
DE102004017148A1 (en) | 2003-04-10 | 2005-01-05 | Caterpillar Inc., Peoria | Operator input device with feedback |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010026237A1 (en) | 2010-07-06 | 2012-01-12 | Leopold Kostal Gmbh & Co. Kg | Sensor device for acquisition of position or position alteration of pivotable lever, has magnetic sensor that is arranged in symmetric to magnets or magnetic poles of magnet assembly in all positions of pivotable lever |
US20120274563A1 (en) * | 2010-10-12 | 2012-11-01 | Seektech, Inc. | Magnetic thumbstick user interface devices |
US10203717B2 (en) * | 2010-10-12 | 2019-02-12 | SeeScan, Inc. | Magnetic thumbstick user interface devices |
EP2829846A1 (en) | 2013-07-23 | 2015-01-28 | Seuffer GmbH & Co. KG | Method and device for determining position with external field compensation |
CN110475468A (en) * | 2018-03-28 | 2019-11-19 | 南京德朔实业有限公司 | Straddle riding type grass trimmer and its operating device |
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Legal Events
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OP8 | Request for examination as to paragraph 44 patent law | ||
R016 | Response to examination communication | ||
R016 | Response to examination communication | ||
R081 | Change of applicant/patentee |
Owner name: SEUFFER GMBH & CO. KG, DE Free format text: FORMER OWNER: ROBERT SEUFFER GMBH & CO. KG, 75365 CALW, DE Effective date: 20111117 |
|
R082 | Change of representative |
Representative=s name: WINTER, BRANDL, FUERNISS, HUEBNER, ROESS, KAIS, DE Effective date: 20111117 |
|
R082 | Change of representative |
Representative=s name: WINTER, BRANDL, FUERNISS, HUEBNER, ROESS, KAIS, DE |
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R016 | Response to examination communication | ||
R002 | Refusal decision in examination/registration proceedings | ||
R003 | Refusal decision now final |